function simulador_gui_avanzado_v7_layout_final()
    % =========================================================================
    % SIMULADOR INTERACTIVO AVANZADO DE MOTOR DC (GUI PROGRAMÁTICA)
    % -------------------------------------------------------------------------
    % Versión 7.0 (Layout Definitivo):
    % - Se fijó un tamaño de ventana de 1300x700 para garantizar la
    %   compatibilidad con pantallas de 1366x768.
    % - Se recalculó y ajustó manualmente la posición de TODOS los
    %   componentes para que quepan perfectamente en la nueva altura,
    %   asegurando que el slider de tiempo de simulación sea siempre visible.
    % - Esta versión prioriza la consistencia y funcionalidad sobre el
    %   tamaño adaptativo.
    %
    % Autor: Gemini
    % =========================================================================

    % --- 1. CÁLCULO DE PARÁMETROS DEL MOTOR ---
    P_n = 5000; V_n = 240; N_n = 1800;
    efficiency = 0.90; volt_drop_percent = 0.05; tau_e_ms = 10;
    omega_n_rads = N_n * (2*pi/60); T_n = P_n / omega_n_rads;
    P_in = P_n / efficiency; I_n = P_in / V_n;
    motor.Ra = (V_n * volt_drop_percent) / I_n;
    motor.Kb = (V_n - I_n * motor.Ra) / omega_n_rads;
    motor.Kt = motor.Kb;
    motor.La = (tau_e_ms / 1000) * motor.Ra;
    motor.J  = 0.02; motor.f  = 0.01;
    motor.RPM_max = 2000; motor.T_max = T_n;

    % --- 2. DEFINICIÓN DEL TAMAÑO DE LA VENTANA ---
    fig_width = 1300;
    fig_height = 700; % Altura fija para compatibilidad
    
    screen_size = get(groot, 'ScreenSize');
    screen_width = screen_size(3);
    screen_height = screen_size(4);
    fig_pos_x = (screen_width - fig_width) / 2;
    fig_pos_y = (screen_height - fig_height) / 2;

    fig = figure('Name', 'Simulador Avanzado de Accionamiento DC', ...
                 'Units', 'pixels', 'Position', [fig_pos_x, fig_pos_y, fig_width, fig_height], ...
                 'NumberTitle', 'off', 'MenuBar', 'none', 'ToolBar', 'none');

    % --- 3. Crear el Panel de Controles ---
    panel_margin = 20;
    control_panel_width = 350;
    control_panel_height = fig_height - 2*panel_margin;
    controlPanel = uipanel(fig, 'Title', 'Controles y Parámetros', ...
                           'FontWeight', 'bold', 'Units', 'pixels', ...
                           'Position', [panel_margin panel_margin control_panel_width control_panel_height]);

    % --- 4. Crear Panel de Información del Motor ---
    y_pos = control_panel_height - 145; 
    info_panel_width = control_panel_width - 30;
    infoPanel = uipanel(controlPanel, 'Title', 'Características del Motor', ...
                        'FontWeight', 'bold', 'Units', 'pixels', ...
                        'Position', [15 y_pos info_panel_width 130]);
    
    infoText = {
        '--- Datos de Placa ---', ...
        sprintf('Potencia: %.1f kW, Tensión: %d Vdc', P_n/1000, V_n), ...
        sprintf('Velocidad: %d RPM, Par Nominal: %.2f Nm', N_n, T_n), ...
        '', ...
        '--- Parámetros Calculados ---', ...
        sprintf('Ra = %.3f Ω, La = %.1f mH', motor.Ra, motor.La*1000), ...
        sprintf('Kt = %.3f Nm/A, Kb = %.3f V·s/rad', motor.Kt, motor.Kb), ...
        sprintf('J = %.3f kg·m², f = %.3f Nms/rad', motor.J, motor.f)};
    
    default_bg_color = get(fig, 'Color');
    uicontrol(infoPanel, 'Style', 'text', 'String', infoText, ...
              'HorizontalAlignment', 'left', 'Units', 'pixels', ...
              'Position', [10 5 info_panel_width-20 110], ...
              'BackgroundColor', default_bg_color);
    
    % --- 5. Crear los Componentes Interactivos (Layout Manual Recalculado) ---
    y_pos = control_panel_height - 160; % Reiniciar y_pos con margen superior

    % Referencia de Velocidad
    y_pos = y_pos - 40;
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Referencia de Velocidad', 'FontWeight', 'bold', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 280 22], 'BackgroundColor', default_bg_color);
    speedRefLabel = uicontrol(controlPanel, 'Style', 'text', 'String', sprintf('%.0f RPM', N_n), 'FontSize', 14, 'FontWeight', 'bold', 'HorizontalAlignment', 'center', 'Position', [150 y_pos-5 150 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    speedRefSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 0, 'Max', motor.RPM_max, 'Value', N_n, 'Position', [20 y_pos 300 20]);
    y_pos = y_pos - 40;

    % Par de Carga
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Par de Carga (TL)', 'FontWeight', 'bold', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 280 22], 'BackgroundColor', default_bg_color);
    loadTorqueLabel = uicontrol(controlPanel, 'Style', 'text', 'String', '0.00 Nm', 'FontSize', 14, 'FontWeight', 'bold', 'HorizontalAlignment', 'center', 'Position', [150 y_pos-5 150 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    loadTorqueSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 0, 'Max', motor.T_max, 'Value', 0, 'Position', [20 y_pos 300 20]);
    y_pos = y_pos - 40;
    
    % Sintonización Lazo de Corriente
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Sintonización Lazo de Corriente', 'FontWeight', 'bold', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 280 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Tiempo Estabilización (ts)', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 150 22], 'BackgroundColor', default_bg_color);
    tsCurrentLabel = uicontrol(controlPanel, 'Style', 'text', 'String', '0.050 s', 'HorizontalAlignment', 'left', 'Position', [180 y_pos 120 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    tsCurrentSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 0.005, 'Max', 0.5, 'Value', 0.05, 'Position', [20 y_pos 300 20]);
    y_pos = y_pos - 30;
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Factor Amortiguamiento (ζ)', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 150 22], 'BackgroundColor', default_bg_color);
    zetaCurrentLabel = uicontrol(controlPanel, 'Style', 'text', 'String', '0.707', 'HorizontalAlignment', 'left', 'Position', [180 y_pos 120 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    zetaCurrentSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 0.1, 'Max', 2.0, 'Value', 0.707, 'Position', [20 y_pos 300 20]);
    y_pos = y_pos - 40;

    % Sintonización Lazo de Velocidad
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Sintonización Lazo de Velocidad', 'FontWeight', 'bold', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 280 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Tiempo Estabilización (ts)', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 150 22], 'BackgroundColor', default_bg_color);
    tsSpeedLabel = uicontrol(controlPanel, 'Style', 'text', 'String', '1.00 s', 'HorizontalAlignment', 'left', 'Position', [180 y_pos 120 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    tsSpeedSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 0.1, 'Max', 5, 'Value', 1.0, 'Position', [20 y_pos 300 20]);
    y_pos = y_pos - 30;
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Factor Amortiguamiento (ζ)', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 150 22], 'BackgroundColor', default_bg_color);
    zetaSpeedLabel = uicontrol(controlPanel, 'Style', 'text', 'String', '0.707', 'HorizontalAlignment', 'left', 'Position', [180 y_pos 120 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    zetaSpeedSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 0.1, 'Max', 2.0, 'Value', 0.707, 'Position', [20 y_pos 300 20]);
    y_pos = y_pos - 40;

    % Tiempo de Simulación
    uicontrol(controlPanel, 'Style', 'text', 'String', 'Tiempo de Simulación', 'FontWeight', 'bold', 'HorizontalAlignment', 'left', 'Position', [20 y_pos 280 22], 'BackgroundColor', default_bg_color);
    timeLabel = uicontrol(controlPanel, 'Style', 'text', 'String', '4.0 s', 'FontSize', 14, 'FontWeight', 'bold', 'HorizontalAlignment', 'center', 'Position', [150 y_pos-5 150 22], 'BackgroundColor', default_bg_color);
    y_pos = y_pos - 25;
    timeSlider = uicontrol(controlPanel, 'Style', 'slider', 'Min', 1, 'Max', 20, 'Value', 4, 'Position', [20 y_pos 300 20]);
    
    % --- 6. Crear el Panel de Gráficas (Derecha) ---
    plot_panel_left = control_panel_width + 2*panel_margin;
    plot_panel_width = fig_width - plot_panel_left - panel_margin;
    plotPanel = uipanel(fig, 'Title', 'Respuesta Dinámica del Sistema', 'FontWeight', 'bold', 'Units', 'pixels', 'Position', [plot_panel_left panel_margin plot_panel_width control_panel_height]);
    
    ax_current = axes('Parent', plotPanel, 'Units', 'normalized', 'Position', [0.08 0.55 0.9 0.4]);
    ax_speed = axes('Parent', plotPanel, 'Units', 'normalized', 'Position', [0.08 0.08 0.9 0.4]);
    
    % --- 7. Definir la Función de Callback ---
    function updatePlot(~, ~)
        speed_ref_rpm = get(speedRefSlider, 'Value');
        T_L = get(loadTorqueSlider, 'Value');
        ts_i = get(tsCurrentSlider, 'Value');
        zeta_i = get(zetaCurrentSlider, 'Value');
        ts_w = get(tsSpeedSlider, 'Value');
        zeta_w = get(zetaSpeedSlider, 'Value');
        T_final = get(timeSlider, 'Value');
        
        speed_ref_rads = speed_ref_rpm * (2*pi/60);

        set(speedRefLabel, 'String', sprintf('%.0f RPM', speed_ref_rpm));
        set(loadTorqueLabel, 'String', sprintf('%.2f Nm', T_L));
        set(tsCurrentLabel, 'String', sprintf('%.3f s', ts_i));
        set(zetaCurrentLabel, 'String', sprintf('%.3f', zeta_i));
        set(tsSpeedLabel, 'String', sprintf('%.2f s', ts_w));
        set(zetaSpeedLabel, 'String', sprintf('%.3f', zeta_w));
        set(timeLabel, 'String', sprintf('%.1f s', T_final));

        wn_i = 4 / (zeta_i * ts_i); 
        Kp_i = 2 * zeta_i * wn_i * motor.La - motor.Ra;
        Ki_i = motor.La * wn_i^2;
        wn_w = 4 / (zeta_w * ts_w);
        Kp_w = (2 * zeta_w * wn_w * motor.J - motor.f) / motor.Kt;
        Ki_w = (motor.J * wn_w^2) / motor.Kt;

        s = tf('s');
        C_i = Kp_i + Ki_i/s;
        C_w = Kp_w + Ki_w/s;
        D_s = (motor.J*s + motor.f)*(motor.La*s + motor.Ra) + motor.Kt*motor.Kb;
        G_iv = (motor.J*s + motor.f) / D_s;
        G_wi = motor.Kt / (motor.J*s + motor.f);
        G_mech = 1 / (motor.J*s + motor.f);
        CL_i = feedback(C_i * G_iv, 1);
        OuterLoop_Plant = CL_i * G_wi;
        System_tf = feedback(C_w * OuterLoop_Plant, 1);
        Disturbance_tf = feedback(G_mech, C_w * CL_i * motor.Kt);
        I_ref_from_w_ref = C_w * (1 - System_tf);
        I_a_from_w_ref = CL_i * I_ref_from_w_ref;
        I_ref_from_dist = C_w * Disturbance_tf;
        I_a_from_dist = CL_i * I_ref_from_dist;

        t = 0:0.001:T_final;
        
        [y_speed_ref, ~] = step(System_tf * speed_ref_rads, t);
        [y_speed_dist, ~] = step(Disturbance_tf * T_L, t);
        y_speed_total_rads = y_speed_ref - y_speed_dist;
        y_speed_total_rpm = y_speed_total_rads * (60/(2*pi));

        [y_Iref_ref, ~] = step(I_ref_from_w_ref * speed_ref_rads, t);
        [y_Iref_dist, ~] = step(I_ref_from_dist * T_L, t);
        y_Iref_total = y_Iref_ref + y_Iref_dist;

        [y_Ia_ref, ~] = step(I_a_from_w_ref * speed_ref_rads, t);
        [y_Ia_dist, ~] = step(I_a_from_dist * T_L, t);
        y_Ia_total = y_Ia_ref + y_Ia_dist;
        
        plot(ax_current, t, y_Iref_total, 'r--', 'LineWidth', 1.5);
        hold(ax_current, 'on');
        plot(ax_current, t, y_Ia_total, 'b', 'LineWidth', 2);
        hold(ax_current, 'off');
        grid(ax_current, 'on');
        title(ax_current, 'Dinámica del Lazo de Corriente');
        set(ax_current, 'XTickLabel', []);
        ylabel(ax_current, 'Corriente (A)');
        legend(ax_current, 'Referencia (I_{ref})', 'Real (I_a)', 'Location', 'SouthEast');
        
        plot(ax_speed, t, y_speed_total_rpm, 'b', 'LineWidth', 2);
        hold(ax_speed, 'on');
        yline(ax_speed, speed_ref_rpm, 'r--', 'LineWidth', 1.5);
        hold(ax_speed, 'off');
        grid(ax_speed, 'on');
        info = stepinfo(y_speed_total_rpm, t, speed_ref_rpm);
        plotTitle = { 'Dinámica del Lazo de Velocidad', ...
            sprintf('ts = %.3f s, Sobreimpulso = %.2f %%', info.SettlingTime, info.Overshoot)};
        title(ax_speed, plotTitle);
        xlabel(ax_speed, 'Tiempo (s)');
        ylabel(ax_speed, 'Velocidad (RPM)');
        legend(ax_speed, 'Velocidad del Motor', 'Referencia', 'Location', 'SouthEast');
        
        linkaxes([ax_current, ax_speed], 'x');
        xlim(ax_speed, [0 T_final]);
    end

    % --- 8. Asignar la función de callback a los sliders ---
    callback_fcn = @updatePlot;
    all_sliders = {speedRefSlider, loadTorqueSlider, tsCurrentSlider, ...
                   zetaCurrentSlider, tsSpeedSlider, zetaSpeedSlider, timeSlider};
    for k = 1:numel(all_sliders)
        addlistener(all_sliders{k}, 'ContinuousValueChange', callback_fcn);
    end

    % --- 9. Llamada Inicial para Dibujar la Gráfica ---
    updatePlot();
end